Apparatuses and methods for registering a real-time image feed from an imaging device to a steerable catheter

A method of registering a real-time image feed from an imaging device inserted into a steerable catheter using a navigation system comprising a display, wherein the steerable catheter comprises an elongate flexible shaft having a proximal end portion, a distal end portion terminating in a tip, a working channel extending therebetween, and a handle attached to the proximal end portion of the flexible shaft, the method comprising:

• inserting the imaging device into the working channel of the steerable catheter;
• generating a real-time image feed of one or more reference points, wherein the orientation of the reference points is known;
• orienting the handle of the steerable catheter to a neutral position;
• displaying the real-time image feed on the display;
• and
• registering the real-time image feed to the steerable catheter by rotating the displayed image so that the reference points in the real-time image feed are matched to the known orientation of the reference points.